KR101982433B1 - Robot welding system and its welding method - Google Patents

Robot welding system and its welding method Download PDF

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Publication number
KR101982433B1
KR101982433B1 KR1020177034739A KR20177034739A KR101982433B1 KR 101982433 B1 KR101982433 B1 KR 101982433B1 KR 1020177034739 A KR1020177034739 A KR 1020177034739A KR 20177034739 A KR20177034739 A KR 20177034739A KR 101982433 B1 KR101982433 B1 KR 101982433B1
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South Korea
Prior art keywords
welding
pipe
robot
torch
tube
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KR1020177034739A
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Korean (ko)
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KR20170141793A (en
Inventor
쳉동 양
웨이바오 탕
마오롱 장
민 장
칭 루오
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주식회사 상하이 일렉트릭 뉴클리어 파워 이큅먼트
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Priority to CN201510769050.0A priority Critical patent/CN105195868B/en
Priority to CN201510769050.0 priority
Application filed by 주식회사 상하이 일렉트릭 뉴클리어 파워 이큅먼트 filed Critical 주식회사 상하이 일렉트릭 뉴클리어 파워 이큅먼트
Priority to PCT/CN2015/095306 priority patent/WO2017079995A1/en
Publication of KR20170141793A publication Critical patent/KR20170141793A/en
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Publication of KR101982433B1 publication Critical patent/KR101982433B1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • B23K9/167Arc welding or cutting making use of shielding gas and of a non-consumable electrode
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/126Controlling the spatial relationship between the work and the gas torch
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K31/00Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
    • B23K31/12Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to investigating the properties, e.g. the weldability, of materials
    • B23K31/125Weld quality monitoring
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/02Seam welding; Backing means; Inserts
    • B23K9/028Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0288Seam welding; Backing means; Inserts for curved planar seams for welding of tubes to tube plates
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/10Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006Power supply
    • B23K9/1043Power supply characterised by the electric circuit
    • B23K9/1056Power supply characterised by the electric circuit by using digital means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/124Circuits or methods for feeding welding wire
    • B23K9/125Feeding of electrodes
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1274Using non-contact, optical means, e.g. laser means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/32Accessories
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/022Optical sensing devices using lasers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1674Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676Avoiding collision or forbidden zones
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/04Tubular or hollow articles
    • B23K2101/14Heat exchangers

Abstract

The present invention is applied to the pipe-tube plate welding of the steam generator, which is the main facility of the nuclear system, in the robot welding system and the welding method thereof, and the present invention establishes the welding path collision prevention plan of the industrial robot through the path planning and offline programming module. And offline programming according to the planned method, and based on the laser scanning results, the laser scanning positioning module obtains the center position coordinates, realizes the initial welding position and realizes the automatic guidance, and controls the central control module. Welding is performed on all pipe-pipe plate welding joints on one pipe plate using an industrial robot and four corresponding pipe-pipe plate welding torches, and reconstructed into a welding joint quality online detection module based on the welding seam laser scanning results. Image acquisition and on-line detection of welded joint quality based on the welded joint type It is carried out. The present invention can improve the welding efficiency of the pipe-tube plate and ensure the quality stability of the welded joint.

Description

Robot welding system and its welding method
The present invention relates to an automated welding system and method in the field of robot welding intelligent technology, and more particularly, to a pipe-tube plate robot welding system and a welding method of a steam generator which is a nuclear system main facility.
Nuclear power has advantages such as cleanliness, strong electricity sustainability, and relatively limited geographical location, and is one of the main energy development resources of the future. According to the `` National Nuclear Power Theme and Plan '', by 2020, China's nuclear power production capacity will reach 40 million kw.h, the percentage of total nuclear power generation will increase by 4%, and the annual power generation will be It will increase to 260 ~ 280 billion kw.h. The long and short duration of a nuclear power plant construction has a significant impact on economics. Steam generators are the main facility of nuclear islands. Tube-tube plate welding is one of the main processes in the steam generator manufacturing process, and the welding quality and welding efficiency of the pipe-tube plate directly affect the corrosion resistance, sealability and steam generator manufacturing speed at the primary side of the tube plate. The steam generator pipe-tube welding joint has a large quantity. In the case of the AP1000 steam generator, there are 20050 pipe-tube welding joints, but the welding efficiency is low because the welding is mainly performed with a manual portable pipe-tube welding torch. .
The present invention is to solve the problems as described above, the robot welding system for welding the pipe-tube plate of the steam generator, which is the main equipment of the nuclear system with respect to the situation where the manual welding is mainly performed to the steam generator pipe-tube plate to date. And its method of welding, identifying and guiding the initial welding position during the automated welding process of pipe-tube plates, route planning and offline programming, automatic robot welding of pipe-tube joints, TIG automatic detection and replacement, weld joint quality online The purpose is to realize functions such as detection.
As a specific means for achieving the above object, the present invention is a robot welding system in which the central control module is installed and the following equipment is connected to the signal and is under control.
At least one industrial robot with six degrees of freedom has been installed that can overlap the operating range to cover all pipe-to-plate weld seam welding positions on the workpiece tube.
At least one pipe-tube welding torch is installed,
When each industrial robot grabs at least one corresponding pipe-pipe plate welding torch and moves to the corresponding pipe space, the pipe-pipe plate welding torch near each pipe line performs welding on the pipe-pipe plate welding joint.
Weld joint quality online detection module performs welding joint quality online detection based on weld joint type.
Preferably, a route planning and offline programming module connected to and controlled by a central control module is installed in the robot welding system to establish a plurality of industrial robot related welding path collision prevention plans, Proceed with offline programming.
Preferably, a laser scanning positioning module, which is connected to the central control module and is under the control, is installed in the robot welding system to acquire the center coordinates of the air hole based on the scanning result of the laser sensor for the air hole, Reference data for initial weld position identification and automatic guidance.
Preferably, two industrial robots are installed in the robot welding system, and each of the industrial robots uses two pipe-tube plate welding torchs for performing automatic TIG welding on the pipe-tube plate joint.
Preferably, each industrial robot is installed on a corresponding vertical pedestal and is movable horizontally with the vertical pedestal,
Allow the industrial robot to move up and down on a vertical stand.
Preferably, each vertical pedestal is installed on the system platform and is movable horizontally with the system platform,
Allowing the system platform to move along each of the ground rails to arrive in front of each weld-waiting workpiece tube,
The workpiece is placed in a steam generator above each pedestal.
Preferably, in the system platform,
Install the TIG automatic replacement platform and place it within the operating range of the industrial robot to replace tungsten electrodes,
Install a welding power source to supply power for each pipe-tube plate welding torch,
Install robot control cabinet and install robot control device of each industrial robot in it.
After installing the central control platform, the central control module, weld seam quality online sensing module, path planning and offline programming module, and laser scanning positioning module are installed therein.
Preferably, each corresponding harness bracket is installed on each vertical pedestal so that the industrial robot and the corresponding pipe-tube welding torch conductor are inserted therein,
The ground rail of the system platform includes a transverse rail and a longitudinal rail.
Preferably, the 3D reconstruction image of the welding joint is acquired through the welding joint quality online sensing module based on the scanning result of the laser sensor for the welding joint, and the welding joint quality online detection is performed based on the welding joint type.
Preferably, the laser sensor is installed at the tip of the robot arm of the industrial robot.
As another specific means, the present invention provides a welding method for a robot welding system.
Install several workpieces on their respective pedestals,
The ground rails are used to move the system platform in front of the tube of one of the workpieces so that the robotic welding system device installed on the system platform can perform the relevant operation,
Each industrial robot grabs one corresponding welding torch and determines the welding torch position by reaching the welding position of the current welding airman on the tube.
After determining the position of the welding torch, the industrial robot loosens the welding torch clamp and grabs another welding torch corresponding to the industrial robot.
According to the command of the central control module, welding is started for the welding torch that has been positioned, and when the welding of one pipe-pipe plate welding joint is completed, the welding completion signal is output.
The industrial robot determines the position by moving the welding torch near the next hole to output the welding completion signal, and prepares for welding of the next pipe-pipe plate welding joint.
After combining all the industrial robots and each welding torch to complete all pipe-tube plate welding on the corresponding workpiece tube, the ground rails are used to move the system platform in front of the other workpiece tube to weld all pipe-tube plates. Complete the welding work on the joint.
Preferably, in the above welding method, each of the industrial robots moves a laser sensor installed at the tip of the robot arm, scans the current welding air hole on the tube plate with the laser sensor, and uses a laser scanning positioning module. By determining the center position of the corresponding pipe, the industrial robot can grasp one corresponding welding torch and move it to the welding position of the pipe to determine the position of the welding torch.
Preferably, in addition to the above welding method, after the welding torch has completed one pipe-pipe plate welding seam welding operation, the pipe-tube plate welding seam is scanned using a laser sensor, and the weld seam quality online. A 3D reconstruction image of the welded joint is acquired using the detection module, and the weld joint quality online detection and the reference threshold fault alarm are performed based on the weld joint type.
Preferably, in addition to the above welding method,
After placing several workpieces on their respective pedestals, establishing a proportional 3D model of each workpiece, introducing a robot control system,
In addition, after moving the system platform in front of any one workpiece tube, the industrial robot performs a manual demonstration, checks the actual coordinates of the workpiece based on several reference points, and corrects the coordinate system of the workpiece 3D model. ,
In addition, the welding path collision prevention plan of several industrial robots is implemented using the path planning and offline programming module, and the offline programming is carried out according to the plan.
Preferably, when an industrial robot grabs any one welding torch and moves it to the welding position of the current welding standby pipe, the welding torch positioning mandrel is inserted into the current welding standby pipe and the pneumatic auxiliary positioning is installed on the welding torch. After the expansion tube is inserted into the tube, the welding torch axis direction is determined and the pneumatic positioning expansion tube is automatically expanded or contracted. After checking the expansion or contraction condition, the robot releases the welding torch clamp.
According to the present invention as described above has the following advantages.
The robot welding system and the welding method disclosed in the present invention belong to the field of robot automation technology, and are applied to the pipe-tube welding of the steam generator, which is a nuclear system main facility. Industrial robot disclosed in the present invention has the advantages of high work efficiency, stable, reliable, high repeatability, etc., by replacing the manual welding with a robot to improve the welding efficiency, ensure product quality stability, improve the working environment of the worker and labor It has very distinct advantages in terms of strength reduction.
The present invention can realize the initial welding joint position identification and automatic guidance of the pipe-tube plate welding of the steam generator, which is the core system of the nuclear system, route planning and offline programming, automatic welding of pipe-tube plate robots and online detection of the weld joint quality. In addition, the present invention has a very important meaning in terms of improving the welding efficiency of the pipe-tube plate, guaranteeing the quality of the welding joint quality, shortening the delivery time of the steam generator, improving the economics of nuclear power generation.
Figure 1 shows the structure of the steam generator pipe-tube plate robot welding system which is the main system of the nuclear system according to the present invention.
2 shows an arrangement of the robot welding system according to the present invention.
Figure 3 shows the welding method procedure of the robot welding system according to the present invention.
The objects, technical solutions and advantages of the above-described embodiments of the present invention will become more apparent from the following detailed description. Hereinafter, a clear and complete description of the technical solutions of the embodiments of the present invention will be made with reference to the appended drawings of the embodiments of the present invention. It is apparent that these embodiments are only partial embodiments of the present invention and do not include all embodiments. .
In the steam generator pipe-tube plate robot welding system, which is the main system of the nuclear system disclosed in the present invention, as shown in FIG. 1, an industrial robot (2 in this embodiment is installed), a route planning and offline programming module, and a laser Scanning positioning module, pipe-pipe plate welding torch, welding power source, weld seam quality online sensing module, and central control module to control the operation of the module and device.
Among them, two six degrees of freedom industrial robots (hereinafter referred to as "robots") were installed on the guide rails and on the vertically movable vertical pedestals. Since the robot can move up and down on the pedestal, welding work can be carried out on the pipe-tube plate on the upper and lower pipe plates, and the vertical pedestal can move on the horizontal rail, so the robot can move and move in the horizontal direction. Welding to the left and right pipe-tube plates can be realized. Therefore, it is possible to realize the movement of the robot up, down, left and right by using the vertical pedestal, and the operation range of the two robots can be overlapped to completely cover the tube sheet plane. Welding can be realized.
The path planning and offline programming module can be used to plan the welding path of the dual robot, and the simulation optimization welding path can be used to obtain the optimization path planning to improve the welding efficiency and prevent the collision of the dual robot in the welding process. In addition, off-line programming of the optimization path planning method is used to replace the complicated manual pilot programming to improve the steam generator pipe-pipe plate welding efficiency.
The laser scanning positioning module performs laser scanning on the air hole using a laser sensor, and then obtains the center coordinate value of the air hole by a corresponding algorithm, which is a spatial position coordinate that can be identified by the robot. By controlling the robot to centrifugal centrifuge, the initial welding position identification and automatic guidance of pipe-tube welding can be realized.
The present invention uses a dedicated pipe-tube plate welding torch and a pipe-tube plate welding power source. The robot grasps the welding torch and inserts the welding torch into the hole through the positioning mandrel to determine its position. Under the protection of the double protective gas cover, the tungsten electrode is automatically rotated to complete the automatic TIG welding (this embodiment is specifically used for automatic TIG welding without filler wires) for pipe-tube plate welds. Two robots can be combined to perform automatic TIG welding on the pipe-to-plate welding joint of the four pipe-to-plate welding torches of the dual robot. That is, each robot grabs two corresponding welding torches, respectively, and performs welding work in the vicinity of different pipes.
The weld seam quality online sensing module can realize on-line detection of pipe-to-plate weld seam quality. After the welding of each pipe-pipe plate welded joint is completed, the welding seam is scanned using a laser sensor, and the pipe-pipe plate welded joint is obtained by 3D image reconstruction. On-line detection of weld joint quality is realized by automatically determining the presence of defects such as slag inclusion, undercut, and the like.
The central control module, 1) can control the laser sensor, to scan the hole and realize the identification and guidance of the initial welding position, 2) to control the route planning and offline programming module, to control the welding route planning 3) the robot can hold the welding torch and perform automated welding on the pipe-tube plate, and 4) automatically detect and replace the tungsten electrode based on the tungsten electrode type. 5) After completing the welding work of each pipe-tube welding joint, the welding joint can be obtained by controlling the laser sensor and the welding joint can be obtained. Can be realized.
2 shows the arrangement of the robot welding system of this embodiment. The robot welding system of the present embodiment includes a system platform 50, which moves along with the system platform 50 along the ground transverse rail 301 or the longitudinal rail 302 above the system platform 50. The set is installed. Vertical set (10), harness bracket (90), industrial robot (20) with 6 degrees of freedom, pipe-tube plate welding power supply (70), pipe-tube plate welding torch (30), TIG automatic replacement platform (40) for each set of devices ) Is installed. On this system platform 50 is installed a central control platform 60 and a robot control cabinet 80 which are shared by two sets of equipment (the corresponding functional modules controlling the two sets of equipment are respectively installed therein). .
In FIG. 2, two steam generators 100, a welded standby tube plate of the steam generators, and each pedestal 200 of the two steam generators 100 are illustrated. If the arrangement positions of the two steam generators 100 (hereinafter referred to as “workpieces”) are not arranged side by side unlike those shown in Fig. 2, the system platform 50 is adjusted by appropriately adjusting the shape and arrangement of the ground rails. It can be moved smoothly in front of the welded standby tube of each workpiece.
As described above, the vertical pedestal 10 can move horizontally with the robot 20 installed thereon, and can move the robot 20 up and down on the vertical pedestal 10. Horizontal movement of the vertical pedestal 10 is realized through the movement of the system platform 50. If necessary, a rail for moving the vertical pedestal 10 may be installed in the system platform 50.
The harness bracket 90 is installed on the vertical pedestal 10, and the pipe-tube plate welding torch 30 corresponding to one robot 20 and its welding power source 70 are tied to the pedestal, which is connected to each other. In the welding process, the wires may be entangled with each other to prevent occurrence of disturbances and circuit breakage.
The TIG automatic replacement platform 40 is located within the operable range of the corresponding robot 20 and is used for the replacement of tungsten electrodes. The TIG automatic replacement platform 40 can be used as a welding torch placement rack to place the pipe-tube plate welding torch 30 thereon. By installing the stairs connected to the TIG automatic replacement platform 40 on the system platform 50, it is possible to facilitate the operator's work and check the status of the related devices.
As described above, a path planning and offline programming module, a laser scanning positioning module, a weld seam quality online sensing module, a central control module, and the like are installed in the central control platform 60. The robot control system corresponding to each robot may be installed in the central control platform 60 and / or the robot control cabinet 80.
As shown in Figure 3, the welding method realized through the robot welding apparatus of the present invention includes the following procedure.
S1. Two steam generators (ie workpieces) are installed and fixed on their respective pedestals.
S2. A proportional (1: 1) 3D model of each workpiece is established and a robot control system is introduced.
S3. The ground and transverse rails are used to move and secure the system platform in place at the front of the workpiece tube.
S4. In the manual demonstration operation, the actual coordinates of the workpiece are confirmed based on 3 to 4 reference points and the coordinate system of the workpiece 3D model is corrected.
S5. Optimize the welding route of the dual robot pipe-tube plate to obtain the optimized welding route plan and conduct offline programming.
S6. The robot moves to the position of the welding torch placement rack, grabs one welding torch on the placement rack, and uses the laser sensor installed at the tip of the robot arm to identify the center position of the current welding standby pipe, and to determine the gap between the pipe assembly depth and the expansion pipe. Detect
S7. The robot takes the welding torch to the welding position and inserts the welding torch positioning mandrel into the welding standby hole. At the same time, the pneumatic auxiliary positioning expander in the upper part of the welding torch is inserted into the corresponding tube, and after determining the welding torch axial direction, the pneumatic positioning expander is automatically expanded or contracted. After checking the expansion or contraction, the robot releases the welding torch clamp.
S8. The pipe-tube plate welding process is operated to control the position of the welding torch, and the welding is completed. When the pipe-tube plate welding joint welding work is completed, the welding completion signal is output.
S9. The robot and laser sensor are used to scan the pipe-pipe plate welded joints, acquire welded joints using 3D reconstructed images, and automatically identify the presence of excess reference defects based on the welded joints. If there is an out-of-reference fault, immediately stop welding and alert.
S10. Robots and laser sensors scan the next hole to identify its center coordinates, detect pipe assembly depth and expander clearance, and alert when a standard is exceeded.
S11. After the robot receives the welding completion signal of one welding torch, it automatically determines its position, grabs the welding torch, and proceeds to welding the next pipe-tube welding joint.
S12. Repeat the procedure S6 ~ S11. In other words, one robot performs this operation on another welding torch corresponding thereto, and the same robots alternate time to hold or release two welding torches. The same work is done for the two welding torches of the other robots, and two robots and four pipe-to-pipe welding torches allow automatic welding of all pipe-to-plate welding joints on one workpiece (steam generator). To realize.
S13. The ground and transverse rails are used to move and secure the system platform in place at the front of the next workpiece tube.
S12. Repeat steps S4 to S11 to realize dual robot automatic welding of all pipe-tube plates of the workpiece (steam generator).
The present invention is to identify and guide the initial welding position of the steam generator pipe-pipe plate welding of nuclear power plant, route planning and offline programming, automatic robot welding of pipe-pipe plate welding joint, automatic detection and replacement of TIG, online detection of welding joint quality, etc. The main function of the can be realized. This steam generator pipe-tube plate welding system can effectively improve the pipe-tube plate welding efficiency, improve the quality stability of the welded joint, and shorten the steam generator delivery time.
The present invention described above has disclosed preferred embodiments as described above, but the present invention is not limited thereto. It will be apparent to those skilled in the art that various substitutions, modifications, and changes can be made without departing from the spirit of the present invention. Accordingly, the appended claims define the scope of protection of the present invention.

Claims (15)

  1. In the robot welding system provided with a central control module and a device connected to the central control module signal and the control is,
    At least one 6 degree-of-freedom industrial robot with an operating range to cover all pipe-to-plate weld seam welding positions on the workpiece tube,
    At least one pipe-pipe plate welding torch is installed,
    An industrial robot grabs at least one corresponding pipe-to-plate welding torch and transfers it to the vicinity of the corresponding hole, inserts a positioning mandrel into the corresponding hole, releases the welding torch clamp, and pipe-to-plate welding joint near each hole. Welding is in progress for,
    Welding joint quality online detection module conducts welding joint quality online detection based on welding joint type.
    The ground rails are equipped with a system platform that can move independently up to the front of each workpiece tube,
    The industrial robot is a robot welding system that is installed on a vertical pedestal in which a system platform is installed to move horizontally with the system platform.
  2. The method of claim 1,
    A route planning and offline programming module connected to the central control module and controlled by the control module is installed in the robot welding system to establish a welding path collision prevention plan for several industrial robots, and to perform offline programming according to the plan. Ongoing robotic welding system.
  3. The method according to claim 1 or 2,
    The laser scanning positioning module, which is connected to the central control module and is under the control, is installed in the robot welding system to acquire the center coordinates of the pit based on the scanning result of the laser sensor for the pit, and identify the initial welding position. And robotic welding systems as reference data for automatic guidance.
  4. The method of claim 1,
    Two industrial robots are installed in the robot welding system, and each industrial robot holds two pipe-tube plate welding torch for performing automatic TIG welding on the pipe-tube plate joint.
  5. The method of claim 3,
    And a robot welding system capable of moving the industrial robot up and down on a vertical pedestal installed corresponding thereto.
  6. The method of claim 5,
    And the workpiece is placed in a steam generator above the pedestal.
  7. The method of claim 6,
    The system platform,
    A TIG automatic replacement platform installed within the operating range of the industrial robot and used to replace the tungsten electrode;
    A welding power source installed to supply power for the pipe-tube plate welding torch;
    A robot control cabinet installed therein to include a robot control apparatus of an industrial robot;
    And a central control platform installed therein to include the central control module, a weld joint quality online sensing module, a route planning and offline programming module, and a laser scanning positioning module.
  8. The method of claim 7, wherein
    A corresponding harness bracket is installed on the vertical pedestal so that an industrial robot and a corresponding pipe-tube welding torch conductor are located therein.
    The ground rail of the system platform comprises a transverse rail and a longitudinal rail.
  9. The method of claim 1,
    Robot welding system for acquiring the weld joint 3D reconstruction image through the weld joint quality online detection module based on the scanning result of the laser sensor for the weld joint, and performs the weld joint quality online detection based on the weld joint shape.
  10. The method of claim 9,
    Robot welding system in which the laser sensor is installed at the front end of the robot arm of the industrial robot.
  11. In the robot welding system welding method,
    Install several workpieces on their respective pedestals,
    The ground rails are used to move the system platform in front of one of the workpieces, allowing the robotic welding system device installed on the system platform to perform the relevant operation.
    Each industrial robot grabs one corresponding welding torch and reaches the welding position of the current welding airman on the pipe plate to determine the position of the welding torch, and after determining the welding torch position, the industrial robot loosens the welding torch clamp. Hold another welding torch corresponding to an industrial robot,
    According to the command of the central control module, welding is started on the welding torch that has been positioned, and when welding of one pipe-pipe plate welding joint is completed, the welding completion signal is output, and the industrial robot outputs the welding completion signal. Move the torch near the next hole to determine its position, and prepare for the next pipe-to-pipe weld
    After combining all the industrial robots and each welding torch to complete all pipe-tube plate welding on the corresponding workpiece tube, the ground rails are used to move the system platform in front of the other workpiece tube to weld all pipe-tube plates. Robot welding system welding method to complete the welding work of the joint.
  12. The method of claim 11,
    Move the laser sensor installed at the tip of the robot arm with each industrial robot, scan the current welding air hole on the tube plate with the laser sensor, and determine the center position of the corresponding hole using the laser scanning positioning module. A robot welding system welding method in which a welding torch corresponding to this is held and moved to a welding position of a corresponding pipe to determine a welding torch position.
  13. The method of claim 11,
    After the welding torch completes the welding of one pipe-pipe plate welded joint, it scans the pipe-pipe plate welded joint using a laser sensor and uses the weld joint quality online detection module to generate a 3D reconstruction image of the welded joint. Robot welding system welding method for acquiring the welding joint quality online and alarming the threshold exceeded based on the welding joint type.
  14. The method of claim 11,
    After placing several workpieces on their respective pedestals, establishing a proportional 3D model of each workpiece, introducing a robot control system,
    After moving the system platform in front of any workpiece tube, perform a manual demonstration with an industrial robot, check the actual coordinates of the workpiece based on several reference points, calibrate the coordinate system of the workpiece 3D model, Robot welding system welding method that executes the welding path collision prevention plan of several industrial robots using the path planning and offline programming module and performs the offline programming according to the planned method.
  15. The method of claim 11,
    When the industrial robot grabs any one welding torch and moves it to the welding position of the current welding standby pipe, the welding torch positioning mandrel is inserted into the current welding standby pipe, and the pneumatic auxiliary positioning expansion pipe installed on the welding torch is installed. A method of welding a robot welding system in which a pneumatic positioning expander is automatically expanded or contracted after determining the axial direction of the welding torch, and the robot loosens the welding torch clamp after confirming the expansion or contraction state.
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